平面ワイヤ駆動型連続体ロボットによる準零剛性の実現とその特性

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  • Characteristics of a planar cable-driven continuum robot realizing quasi-zero stiffness

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<p>This paper discusses the characteristics of a planar cable-driven continuum robot realizing quasi-zero stiffness. We considered a mechanism design using an elastic rod as a backbone and routing a cable in parallel to it while connecting another cable to the attachment point of the elastic rod on the end disk. This design enables the continuum robot to achieve a locally neutral static equilibrium state under constraint condition where the length of the elastic rod and cable tensions are kept at desired values. Under the above condition, static analysis was conducted to calculate the total potential energy in the surroundings of the configuration of a locally neutral static equilibrium state. The numerical calculation results showed that the continuum robot with quasi-zero stiffness exhibit properties with zero and positive stiffness or ranging from negative to positive stiffness, depending on the given configuration.</p>

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